2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

Dynamic Analysis of Variable Structure Based

Sliding Mode Intelligent Load Frequency Control
of Interconnected Nonlinear Conventional and
Renewable Power System
Rajib Mondal Md. Mosaddequr Rahman
M. Sc. Student Professor
Department of Electrical and Electronic Engineering Department of Electrical and Electronic Engineering
BRAC University, BRAC University,
Dhaka-1212, Bangladesh Dhaka-1212, Bangladesh
[email protected] [email protected]

Abstract— In this paper dynamic analysis of variable plays an important role in an interconnected system. The main
structure based sliding mode intelligent load frequency control of objective of LFC is to keep the values of system frequency and
interconnected nonlinear conventional and renewable power tie line power as close to schedule value during the normal
system has been carried out using advanced fuzzy logic operating condition and kept close at when some disturbance is
controller. A new model using variable structure concept of
added to the system or sudden load increase and decrease.
sliding mode fuzzy logic controller has been proposed. The model
is simple and gives better dynamics compare to conventional Frequency of a generator output is controlled by the input
models. The proposed fuzzy logic controller maintains the mechanical power and this input power can controll power
dynamics of stability and proves its superiority compared to interchange between areas. A good controller should be able to
other conventional fuzzy models. Simulation results show that the maintain the system voltage and frequency at any disturbance
settling time, percent of peak overshoot, frequency deviations of and variation in loads. The main objectives of a well-designed
proposed model are much better than other conventional fuzzy controller are: (i) to maintain the multi-area interchange power
controller. at a programmed value among the areas, (ii) to deliver the
essential power among the generation units/plants as per
Keywords— load frequency control (LFC), automatic
generation control (AGC), variable structure concept (VSC), sliding
programmed way, (iii) to hold the frequency of the power
mode control (SMC), settling time, peak over shoot, frequency system at a tolerance level [2].
deviation. In this paper dynamic analysis of variable structure based
sliding mode intelligent load frequency control of
I. INTRODUCTION interconnected nonlinear conventional and renewable power
system has been carried out using advanced fuzzy logic
The load frequency control is a part of automatic generation controller. A new model using variable structure concept of
control (AGC) of a power system. Interconnected power sliding mode fuzzy logic controller has been proposed. The
system has several areas. When the system varies, the power of model is simple and gives better dynamics compare to
the tie line also varies and frequency deviation occurs. The conventional models.
main objective of load frequency control is to minimize the
transient deviation of an interconnected multi-area frequency.
The area control error (ACE) is the equal to the real power II. BACKGROUND
imbalance between load and generation. ACE is the summation Many researchers have carried out analysis of various types
of frequency error and net tie-line power error. The generator of load frequency control problems. In [3-5] a decentralized
output power is controlled by this signal based on the demand proportional integral (PI) biased controller for load frequency
of load [1]. In literature many types of controllers are describe. controller of interconnected two area power plant has been
Practically steam turbine, hydro, gas turbine and nuclear power proposed. In papers [6-10], a model of load frequency control
plant are interconnected to the power system. Nuclear and using proportional integral derivative (PID) and PI controller
steam turbine power plant are mainly used for base load power based on noise tolerable average derivatives control for two
plant. Hydro and gas turbines are used for peak load power area power system controller of automatic generation control
plant due to their short starting time at rest condition. are offered. A simple flexible automatic generation controller
Though automatic generation control is very important for (AGC) algorithm for robust load frequency difficulties using
hydro–thermal interconnected power system, there are very multivariable self-tuning regulator is developed in [11-14].
few studies on this in literature. For dynamic operation, LFC is Authors in [15-17] have devised a genetic algorithm technique

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

for robust load frequency problems using linear matrix

inequalities. Authors in [18-19] proposed an artificial neural
networks and hybrid neuro fuzzy controller for an interconnect
power system load frequency problems. A fuzzy control
scheme is proposed in [20-25] to control change in frequency
and load variations to keep in a tolerable limits for an
interconnected power system.
In this paper, to improve the performance of the system
identical gains are selected. The proposed variable structure
gain fuzzy logic controller and the conventional proportional
integral controller and hybrid neuro fuzzy controller to
compare all of those controller proposed model gives better
performance with respect to settling time, percentage of
overshoot, steady state error and frequency deviation.
Proposed model improve the performance of two area hydro-
thermal interconnected power plant using sliding surface mode
concept and this concept is arises due to variable structure
concept (VSC). To stabilize of any other control functions
variable structure concept can be successfully used. Using
Fig. 1. Hydro-thermal reheat power system block diagram model
high frequency switching control variable structure control
adjusts the dynamics of a nonlinear system [26].
In modern control system sliding mode control under
V1 V2
variable structure system is observed as a special hybrid P12 = Sin (δ 1 − δ 2 ) , (1)
dynamic system. Sliding mode control is adjust the dynamics X 12
of nonlinear system and forces the system to slide along a
cross-section of the system’s usual behavior by using of a where į1 and į2 is the power angles of terminal voltages V1
discontinuous control signal. Sliding mode control is a and V2 of corresponding area 1 and 2 respectively. X12 is the
variable structure control which provides multiple control reactance of tie line. Tie line power transfer from area 1 to
structures so that the adjacent region trajectories are moves area 2 is denoted by P12. Assuming, area 1 transferring surplus
toward with a different control structure and the result is that power to area 2. Small deviation of power angles and the tie
the ultimate trajectory will not exist only within one control line power i.e. power angles in small deviation į1 and į2
structure. Instead the control structures will slide along with changes by ǻį1 and ǻį2. Power P12 changes to ǻP12 .
the boundaries. The sliding hyper surface is the geometrical The following equation shown gives the power transferred
locus consisting of the boundaries and the sliding mode is the from Area 1 to Area 2,
motion of the system. The SMC-VSC objectives are as that
mutual agreement should be applied for power transfer 2πT0
ΔP12 ( s ) = [Δf1 ( s ) − Δf 2 ( s )] (2)
through tie line and each control area should supply its s
individual load demand and both control areas should be
govern by frequency control. Here, T0 is the torque produced. Figure 2 represents the above
equation.
III. SYSTEM LAYOUT
Interconnected two area power system of thermal-hydro
plant block diagram modeling of automatic generation control
for load frequency control studied is presented in figure1.
In modern power system a number of areas of load
frequency controls are interconnected with tie lines. Two areas
of any power plant can be considered that connected as a
single tie line. In a tie line power transfer system the input and Fig. 2. Tie–Line power block diagram
output of an area depends on the equations of incremental V. TIE LINE POWER AND FREQUENCY CONTROL
power balance of each area. On the other hand for an isolated
control area the incremental power depends by the rate of
The equations for the tie line power in standard condition is
increase in area load caused by increase in frequency and the
given as,
rate of rise of stored kinetic energy.
2H 1 (3)
IV. TIE-LINE MODELING [ΔPT 1 (s ) − ΔPE1 (s) − ΔPT 2 (s)] = [sΔf 1 ( s) + B1 Δf 1 ( s)]
f0
The tie-line power transfer equation is given by,

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

=
2H1 1
Δf1 ( s ) B1[ s + 1] (4) b2ǻf2 + ǻP21 = 0 (input of integrating block − K i2 )
f0 B1 s
ǻf1 – ǻf2 = 0 (input of integrating block − 2 πT 12 )
Here, 2H1B1 1 1
= and = Tp1 . s
f0 K p1 B1

ǻP12 = ǻPtie,1 (13)

Equation (3) can be written as
ǻP12 = ǻPtie,2 (14)
Δf1 ( s) = GP1 ( s)[ΔPT 1 ( s) − ΔPE1 ( s) − ΔP12 ( s)] (5)
So,
K P1
G P1 ( s ) = (6) ΔPtie ,1 T12 1 (15)
1 + sTP1 =− =− = constant
Δ Ptie , 2 T21 a12
ΔP12 = ΔP21

Where ǻPE is real load variation. The system absorbed the Therefore, ǻPtie,1 = ǻPtie,2 = 0, ǻPR1 = ǻPR2 , ǻf1 – ǻf2 = 0.
net surplus power ǻPT í ǻPE. To reduce the steady state error Thus, the tie line power variation and frequency variation of
in the frequency tie line biased control is used in the tie line each and every area becomes zero under the steady condition.
power flow.
ACEtie1 and ACEtie2 are the area control error of area1 and VI. CONVENTIONAL PROPORTIONAL INTEGRAL
area2 respectively and ACEtie1, ACEtie2 made the frequency
CONTROLLER
error of linear combination and power error of tie line.
Conventional proportional integral controller offers the
ACE tie1 = b1 Δf1 + ΔP12 (7) simplicity and reliability etc. Conventional PI controllers
provides minimum steady state frequency deviation but it
gives the poor dynamic performance such as settling time and
ACE tie 2 = b2 Δf 2 + ΔP21 (8)
percentage of overshoot etc[27]. This system will have some
oscillatory offset while the disadvantage of offset in it is
Where area 1 and area 2 frequency bias constant are removed by integration. The duty of conventional proportional
represented by b1 & b2 respectively. ACEtie1 and ACEtie2 mode integral controller is to make a control signal ui that keeps the
of integral are represented by ǻPR1 and ǻPR2 respectively. tie-line interchange power and system frequency at a
predetermined value [28].
1
ΔPR1 = − K i1 ³ (b1Δf1 + ΔP12 )dt (9) τ
0 u i = − Ki ³ (biΔfi + ΔPtie, i ) dt (16)
0
1
ΔPR2 = − K i 2 ³ (b2 Δf 2 + ΔP21 ) dt (10)
0 VII. HYBRID NEURO FUZZY CONTROLLER
A hybrid neuro fuzzy system processing data samples to
The both side of the above equations taking Laplace
determining the parameters fuzzy sets and fuzzy rules that
transform
uses a learning algorithm which comes from neural network
theory. Hybrid neuro fuzzy has many applications like image
K i1 (11) processing, pattern recognition etc [29]. By using the fusion of
ΔPR1 = − [b1Δf1 ( s ) + ΔP12 ( s )]
s fuzzy logic and neural network hybrid neuro-fuzzy results are
found. There are different types of neuro-fuzzy applications
Ki2 (12) which are designed for different purpose of applications.
ΔPR2 = − [b2 Δf 2 ( s ) + ΔP21 ( s )]
s
VIII. FUZZY LOGIC CONTROL
Simultaneously applied the step changes of ǻP1 and ǻP2 of
control area 1 and 2 respectively. When steady state situations Fuzzy logic is an intelligent control system in control
are reached and the output signals of all integrating blocks will system engineering. A reasonable number of inputs can be
be constant, then their input signal must become zero. processed by fuzzy logic controller, when the inputs and
outputs are increased the system complexity is increased
b1ǻf1 + ǻP12 = 0 (input of integrating block − K i1 ) therefore distributed processor is probably easier to
s implement. To making a crispy quantity to the fuzzy is known
as a fuzzification process and it can carry considerable

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

uncertainty. The variables is called fuzzy when the uncertainty 1. Fuzzifier (Fuzzification module)
occurs and to rise because of imprecision and ambiguity and 2. Rule engine inference
these are represented by a membership functions. 3. Defuzzifier (Defuzzification module)
Fuzzification is the process of conversion of precise quantity
to fuzzy quantity and defuzzification is the conversion process The system control operator of load frequency controller
of fuzzy quantity to a crispy quantity [30]. In this proposed, is assumed to response the change in frequency deviation i.e.
defuzzification method fuzzy inference system using smallest change of error (Ce) and frequency deviation i.e. variables
of the maximum (SOM) method is applied to create variable error (e) respectively. The universe of discourse is -0.25 to
structure concept operation of sliding mode control. The 0.25 i.e. error in frequency deviation and change in frequency
overall output of all individual fuzzy sets Ck with the deviation within this range five number of triangular
maximum Y membership degree in Ck is used to determine the membership functions is observed to make a better dynamics
smallest value of the domain in this method. This method is of the power system. The bellow figure 5 shows the five
also called last or first of maximum. The equation is given triangular membership functions for the input variables. There
bellow are 25 numbers of rules. Table-1 below shows the rules. The
triangular membership functions are used for both inputs and
Y * = inf y∉Y [ y ∉ Y | μC K (Y ) = hgt (C K )] (17) outputs. The rules are interpreted as if ACE e(l) is -B an
d
( ACE)C (l ) is Z then the output is -M. The fuzzy rules
e
The fuzzy logic control have fuzzification interface, dt
interface rules engine and defuzzification interface. Variable setup in MATLAB/SIMULINK are shown in figure 6.
area control error (e) and change of area control error (Ce)
responses are assumed to operate for load frequency control
process. The variable area control error (e) is equal to the real
power frequency deviation of the system (ǻf). Frequency
deviation ǻf is the difference between the system frequency of
nominal power (fN) and the system frequency of real power (f).

Fig. 5. Five triangular membership functions of control input variables

TABLE I. FUZZY LOGIC CONTROLLER FUZZY INFERENCE RULES

Input e(l)
-B -M Z +M +B
Fig. 4. Fuzzy Logic controller block diagram
-B -B -B -M -M Z
The output signal of universal function of the fuzzy logic -M -B -B -M Z Z
Ce(l)
Z -M -M Z +M +M
controller can be written as
+M Z +M +M +B +B
+B Z Z +M +B +B
ΔPC = X [nc e(l ), nce C e (l )] (18)

Where X is a fuzzy nonlinear function. nce and nc are the

IX. RESULTS AND DISCUSSION
change of error and error gain respectively. nu is output
control gain . Figure 4 shows the block diagram of fuzzy logic In this design, variable structure concept (VSC) operation of
controller. The input control signals are e(l) and ce(l) with a sliding mode control (SMC) concept is applied in fuzzy logic
sampling time of 0.01sec and the linguistic variables of a controllers to demonstrate the performance of an
corresponding level setup the equation is as follows interconnected hydro-thermal power plant load frequency
control compare with other conventional interconnected
K (e, ce) = {− B,− M , Z ,+ M ,+ B} (19) hydro-thermal PI and hybrid neuro fuzzy controller using
MATLAB/SIMULINK software. Figure 7,8,9 shows
Here, -B = Negative Big, -M = Negative Medium, Z = Zero, SIMULINK model of Thermal-Hydro PI controller, Thermal-
+M = Positive Medium, +B = Positive Big. Hydro model of hybrid neuro fuzzy logic controller and
The three main principal elements of a fuzzy logic Thermal-Hydro model of variable structure concept operation
controller has of sliding mode control fuzzy logic controller respectively.
Figure 10, 11, 12 shows the simulation results graphical plot
of thermal-Hydro PI controller, thermal-Hydro model of HNF

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

logic controller and thermal-Hydro model of VSC-SMC logic

controller respectively and figure 13 shows the tie line power
deviation response of thermal-Hydro model of VSC-SMC
logic controller. The responses shows that thermal-hydro
combined plant with VSC-SMCFL controller has better steady
state error, settling time and % of overshoot compare to other
combined controller. In single area system VSC-SMCFL
controller have the better dynamics compare to others.

Fig. 9. SIMULINK model of Thermal-Hydro model of VSC-SMC fuzzy logic

controller

X10 -2
4

0
Δ f(p .u .)

-2 Combined Thermal
Combined Hydro Thermal
Fig. 7. SIMULINK model of Thermal-Hydro model of PI controller
-4 Single Area Thermal
Combined Hydro
-6
Single Area Hydro
-8
0 5 10 15 20 25 30 35 40
Fig. 10. PI controller response of thermal-hydro plant

0.1

0
Δ f ( p .u .)

Single Area Hydro

Single Area Thermal
-0.1 Combined Hydro
Combined Thermal
Combined Hydro-Thermal
-0.2
0 5 10 15 20 25 30 35 40
time(sec)
Fig. 8. SIMULINK model of Thermal-Hydro model of HNF logic controller Fig. 11. HNF controller response of thermal-hydro plant

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

X10-3
4 TABLE III: COMPARATIVE RESULTS OF CONTROLLERS OUTPUTS
Case of Simulation Steady Settlin %of
(1% load variation) State g Time Overshoot
2 Error (Sec)
Thermal-hydro combined plant 24.657
0.000267 0.999396
0 with VSC-SMCFL controller (¨f) 39
Δ f(p .u .)

Single Area Thermal Thermal single area plant with 0.000126

16.855
0.99989
82
-2 Combined Thermal VSC-SMCFL controller(¨f)
Single Area Hydro 24.657
Hydro single area plant with -0.00091 0.999415
-4 Combined Hydro VSC-SMCFL controller (¨f)
4
Combined Hydro-Thermal Thermal-hydro combined plant 25.657
0.0002795 0.999457
-6 with VSC-SMCFL controller(¨P) 399
0 5 10 15 20 25 Thermal single area plant with
time(sec) 0.0001747
22.289
0.999684
VSC-SMCFL controller(¨P) 296
Fig. 12. VSC-SMCFL controller response of thermal-hydro plant Hydro single area plant with 21.289
-6.68x10-5 0.999785
VSC-SMCFL controller (¨P) 293
Thermal-hydro combined plant 35.945
X10 -3 with HNF controller (¨f)
0.0012
42
0.983291
1.5
23.150
Thermal single area plant with 0.914728
Single Area Hydro -0.00097 3
1 Single Area Thermal
HNF controller (¨f)

Hydro single area plant with HNF 25.535

0.5 Combined Hydro-Thermal -0.00023 0.992537
controller (¨f) 42
Δ P (p .u .)

Thermal-hydro combined plant 45.271

0 0.00115 0.999809
with PI controller (¨f) 02
Thermal single area plant with PI 27.066
-0.5 -0.00269 0.998207
controller (¨f) 95
Hydro single area plant with PI 37.835
-1 0.00958 0.99529
controller (¨f) 46

-1.5 and single area are very close to zero which confirms the
0 5 10 15 time(sec) 20 25 30
better dynamic performance of the VSC-SMCFL controller.
Fig. 13. VSC-SMCFL controller response of thermal-hydro plant
At the peak time the amount that the wave form overshoots
the steady-state or final value is expressed as a percentage of
Different parameter values that are used in this paper are the steady state value that the Percent of overshoot. Percentage
given in the Table II below. overshoot is the maximum value of a response minus final
value divided by final value of the response. Compare to all of
TABLE II: PARAMETERS USED IN VSC-SMCFL CONTROLLER figure. 10-13 results from Table-II percent overshoots are
Parameter Value Parameter Value better for designed controller.
f 50 Hz Trc 10 sec
R1 = R2 2.5 Ÿ/ p.u. MW Krc 0.5
Dg1 = Dg2 8.33 X 10-3 per unit MW/Hz Hg1 = Hg2 5 sec X. CONCLUSION
Tsg 0.075 sec Par1 = Par2 2000MW
Tsp 20 sec Tst 0.33 sec In this work dynamic analysis of variable structure based
Ptie.max 250 MW Twh 1.2 sec sliding mode intelligent load frequency control of
Kd 5.0 ki 4.0
interconnected nonlinear conventional and renewable power
system has been carried out using advanced fuzzy logic
1% step load changes is applied in this system to check the
controller. A new model using variable structure concept of
controller performance. The time required to stay 2% to 5% of
sliding mode fuzzy logic controller has been proposed and
any response final value that is the settling time of this
compared with the conventional PI and HNF controller with
response. In this case it is confirm that settling time is
some step load variation in power system. The model is simple
consider for 0.01% of final value and it shows the robustness
and stability of the controller. The designed controller has the and gives better dynamics of settling time, steady state error
and % of overshoot and reduces the oscillation of the
minimum settling time compare to others controller 24.65739
frequency deviation compared to conventional models.
seconds and 25.657399 seconds for combined hydro-thermal
Simulation results show that the designed SMCFC is more
plant frequency and tie line power deviation respectively.
effective for improving the dynamic performance and stability
After the transient response steady state response is found
of the interconnected power system compared to the
and steady state error shows the accuracy of the controller.
From figure 12-13 shows the steady state errors of combined conventional controller. When the VSC-SMC is considered
the proposed controller ensures the stability of power areas for

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 2017 International Conference on Intelligent Computing,Instrumentation and Control Technologies (ICICICT)

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